Thread: Thread scheduler for PID period control ?
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Unread 14-02-2014, 13:35
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Re: Thread scheduler for PID period control ?
Quote:
Originally Posted by Greg McKaskle View Post
What is your CPU usage when doing the 15ms PID and the rest of your robot code? It is on the charts tab.

If you make it easy to change the period of the PID, you can decrease it and watch the CPU. This will also help understand whether the PID loop is waiting on I/O or CPU bound. Again, it may be useful to know the time spent within the PID routine, so if you add your getFPGA timing to the top and bottom of the function and display that delta as well.

Greg McKaskle
Agreed. We have a variable dt that sets the period for the timed loop as well as changes the PID values. We just need time on the robot to finish our tuning.
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